// MIT License

// Copyright (c) 2019 Erin Catto

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include "settings.h"
#include "test.h"
#include "ImGui/ImGuiPresenter.h"

// Test the wheel joint with motor, spring, and limit options.
class WheelJoint : public Test
{
public:
    WheelJoint()
    {
        b2Body* ground = NULL;
        {
            b2BodyDef bd;
            ground = m_world->CreateBody(&bd);

            b2EdgeShape shape;
            shape.SetTwoSided(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
            ground->CreateFixture(&shape, 0.0f);
        }

        m_enableLimit = true;
        m_enableMotor = false;
        m_motorSpeed  = 10.0f;

        {
            b2CircleShape shape;
            shape.m_radius = 2.0f;

            b2BodyDef bd;
            bd.type = b2_dynamicBody;
            bd.position.Set(0.0f, 10.0f);
            bd.allowSleep = false;
            b2Body* body  = m_world->CreateBody(&bd);
            body->CreateFixture(&shape, 5.0f);

            b2WheelJointDef jd;

            // Horizontal
            jd.Initialize(ground, body, bd.position, b2Vec2(0.0f, 1.0f));

            jd.motorSpeed       = m_motorSpeed;
            jd.maxMotorTorque   = 10000.0f;
            jd.enableMotor      = m_enableMotor;
            jd.lowerTranslation = -3.0f;
            jd.upperTranslation = 3.0f;
            jd.enableLimit      = m_enableLimit;

            float hertz        = 1.0f;
            float dampingRatio = 0.7f;
            b2LinearStiffness(jd.stiffness, jd.damping, hertz, dampingRatio, ground, body);

            m_joint = (b2WheelJoint*)m_world->CreateJoint(&jd);
        }
    }

    void Step(Settings& settings) override
    {
        Test::Step(settings);

        float torque = m_joint->GetMotorTorque(settings.m_hertz);
        DrawString(5, m_textLine, "Motor Torque = %4.0f", torque);

        b2Vec2 F = m_joint->GetReactionForce(settings.m_hertz);
        DrawString(5, m_textLine, "Reaction Force = (%4.1f, %4.1f)", F.x, F.y);
    }

    void UpdateUI() override
    {
        // ImGui::SetNextWindowPos(ImVec2(10.0f, 100.0f));
        ImGui::SetNextWindowSize(ImVec2(200.0f, 100.0f));
        ImGui::Begin("Joint Controls", nullptr, ImGuiWindowFlags_NoResize);

        if (ImGui::Checkbox("Limit", &m_enableLimit))
        {
            m_joint->EnableLimit(m_enableLimit);
        }

        if (ImGui::Checkbox("Motor", &m_enableMotor))
        {
            m_joint->EnableMotor(m_enableMotor);
        }

        if (ImGui::SliderFloat("Speed", &m_motorSpeed, -100.0f, 100.0f, "%.0f"))
        {
            m_joint->SetMotorSpeed(m_motorSpeed);
        }

        ImGui::End();
    }

    static Test* Create() { return new WheelJoint; }

    b2WheelJoint* m_joint;
    float m_motorSpeed;
    bool m_enableMotor;
    bool m_enableLimit;
};

static int testIndex = RegisterTest("Joints", "Wheel", WheelJoint::Create);
